#ifndef __SINS_H_
#define __SINS_H_

#include "system.h"
#include "sysconfig.h"
#include "sensors_types.h"


extern S_float_xyz Acceleration;
extern volatile float Sin_Pitch,Sin_Roll,Sin_Yaw;
extern volatile float Cos_Pitch,Cos_Roll,Cos_Yaw;
extern SINS_t sins;

void imuComputeRotationMatrix(void);
void  SINS_Prepare(void);
void Strapdown_INS_High_Kalman(void);
	
#endif




